CN104346951B - Method for monitoring vehicles of parking lot based on interference updating of geomagnetic detector - Google Patents
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Abstract
The invention relates to a device and a method for monitoring vehicles of a parking lot based on interference updating of a geomagnetic detector. The system is provided with a power supply circuit, a magnetoresistive sensor, a single chip microprocessor and a wireless zigbee communication module, wherein the output end of the power supply circuit is simultaneously connected with the input end of the magnetoresistive sensor and the input end of the wireless zigbee communication module, and the magnetoresistive sensor and the wireless zigbee communication module are respectively in bidirectional communication connection with the single chip microprocessor. The method specifically comprises the following steps of A, establishing a background magnetic field; B, collecting real-time waveform data, and comparing with the background magnetic field; C, detecting the existence of vehicles; D, detecting the non-existence of vehicles; E, calibrating. The system and the method have the advantages that the problems of low accuracy, complicated wiring, severe influence by environment factors and the like in the existing parking lot are solved; by adding a nearby vehicle interference updating algorithm, the parking position detection of the parking lot is converted into the single parking position detection, and the detection accuracy is improved.
Description
Technical field
The invention belongs to the automatic information collecting technical field of intelligent traffic monitoring and management, particularly to a kind of based on ground
Equipment for monitoring vehicles and method that magnetic detector interference updates, are applicable to underground parking and open parking ground.
Background technology
Vehicle testing techniques are one of key technologies of intelligent transportation system research, and it provides for intelligent transportation system must
The information source wanted, provides good condition for intelligent transportation system is fast-developing, is by Traffic monitoring and the information base of management
Plinth.Vehicle testing techniques have become as an important link in a lot of traffic systems, need badly in the application at present a set of more
For accurately efficient vehicle checking method.
Wagon detector directly affects the effect of vehicle detection as the infrastructure of Intelligent traffic information acquiring, its performance
Really.At present, main on the market vehicle mode has ground induction coil, ultrasound wave, infrared induction and Video Detection etc..Ground induction coil by
It is difficult in construction, road pavement cannot be applied to parking lot the shortcomings of destroying big, difficult in maintenance.Ultrasound wave be easier to affected by environment,
Stability is not enough, often causes accuracy of detection to reduce because of the sensitivity decrease of probe.Infrared induction is equally affected by environment, especially
It is that the light and shade change in the headlight of automobile and parking lot often causes flase drop.Ultrasound wave and infrared cannot be applied to open-air parking
?.The accuracy of detection of Video Detection is not current still high, and relatively costly.
Because that leans on is relatively near, geomagnetism detecting device is because its physical characteristic is highly susceptible to other car to current parking position
The interference of position vehicle, the data of detection is the magnetic field intensity after periphery all vehicles joint effect in fact, and such magnetic field is strong
Degree is substantially distinguishing with the magnetic field intensity of single parking stall vehicle impact, to do vehicle detection with such data, to calculate
Result is also inaccurate.
Find after tested, the impact to this parking stall magnetoresistive transducer for the side vehicle is very big, can draw high or reduce magnetic resistance and pass
The numerical value of the detection of sensor.If there has been car this parking stall, and has had been detected by car, but a car has been carried out on side, just
The detection data of this parking stall can be affected, if causing to drag down the phenomenon of numerical value, this parking stall arises that the phenomenon detecting no car.
Content of the invention
The purpose of the present invention is the defect overcoming prior art to exist, and provides one kind to can solve the problem that current parking facility exists
Precision low, wiring is complicated, by such environmental effects too heavy the problems such as, and add other car interference update algorithm, by parking lot car
Position detection changes into single parking stall measure, improves the parking lot vehicle monitoring dress updating based on geomagnetism detecting device interference of accuracy of detection
Put and its method.
The technical scheme realizing the object of the invention is：A kind of parking lot vehicle monitoring being updated based on geomagnetism detecting device interference
Method, comprises the steps：
A, set up background magnetic field, it comprises the following steps that：
A, interference value G reset, and vehicle influence value S resets；
B, the geomagnetism detecting device to employing are calibrated or are demarcated；
C, using correction after geomagnetism detecting device gather current parking lot on x, y, z three-axle magnetic field perpendicular to each other without
The earth induction Wave data of filtering；
It is sample toward top n data that d, every axle take current data respectively, and takes the variance of this N number of data；
E, setting are when variance yields are less than 10, and during continuously less than 10 to 100 times, represent that waveform steadily, records and instantly counts
It is background magnetic field according to x0, y0, z0；
F, the background magnetic field intensity A of calculating x, y, z three axle synthesis；
B, collection real-time waveform data are simultaneously compared with background magnetic field, and it comprises the following steps that：
A, geomagnetism detecting device gather current parking lot on x, y, z three-axle magnetic field perpendicular to each other through extreme value and mean filter
Earth induction Wave data afterwards, data is x1, y1, z1 to record instantly；
B, by three number of axle according to and background magnetic field do subtraction and difference be the evolution A ' of quadratic sum；
C, A ' is saved in sample data set f (k), k is number of samples；
C, have car test survey, it comprises the following steps that：
A, according to test data set vehicle detection threshold value H1, when | A '-G | is during >=H1, enumerator T2 reset, enumerator T1
Start counting up；
B, it is set with car count threshold N1 according to test data, during maintaining A ' >=H1, if T1 >=N1, u=
1, represent and above geomagnetism detecting device, have car to stop；
C, according to test data set steady threshold value W of waveform, as the variance V ＜ W of f (k) data set, enumerator T3 starts
Count, and after lasting till N3 time, represent that current form is steady, and enter the detection of vehicle influence value S, unison counter T3 is clear
Zero；
If the vehicle influence value S=0 that d detects, represent and also do not record the influence value being stopped to magnetic field, record S=
A’-G；If vehicle influence value S ≠ 0 detecting, represent and recorded the influence value being stopped to magnetic field, record renewal interference value
G '=A '-S；As V ＞ W, enumerator T3 resets；
D, no car test are surveyed, and it comprises the following steps that：
A, when | A '-G | is during ＜ H1, enumerator T1 resets, and vehicle influence value S resets, and enumerator T2 starts counting up；
B, according to test data setting no car count threshold N2, during maintaining A ' ＜ H1, if T2 >=N2, u=
0, represent that the vehicle above geomagnetism detecting device leaves；
C, as the variance V ＜ W of f (k) data set, enumerator T3 starts counting up, and after lasting till N3 time, represents and work as prewave
Steadily, enumerator T3 resets shape, updates interference value G '=A '-S；As V ＞ W, enumerator T3 resets；
E, correction.
Described in technique scheme, step E comprises the following steps：By data x1, y1 of collection, z1 and original background data
X0, y0, z0 do difference respectively, if three axle differences are respectively less than H0 then it represents that not having ferromagnetic material to disturb, on parking stall near this parking stall
No car, interference value G resets, and vehicle influence value S resets.
The background magnetic field intensity A of x, y, z three axle synthesis is calculated, its computing formula is in step A described in technique scheme：
In step B described in technique scheme by three number of axle of collection according to and background magnetic field do subtraction and difference done
The evolution A ' of quadratic sum, its computing formula is：
N >=10 described in technique scheme, described H0 is 5～10；Described H1 is 60～80；Described N1 is 5f；Described N2
For 10f；Described N3 is 20f, and f is detection frequency.
A kind of parking lot equipment for monitoring vehicles being updated based on geomagnetism detecting device interference, has power supply circuits, magneto-resistive transducing
Device, single-chip microcomputer and wireless zigbee communication module；The outfan of described power supply circuits connect simultaneously magnetoresistive transducer input and
The input of wireless zigbee communication module；Described magnetoresistive transducer and wireless zigbee communication module all with single-chip microcomputer two-way
Letter connects.
Power supply circuits described in technique scheme have power supply and low pressure difference linear voltage regulator；The output termination of described power supply
The input of low pressure difference linear voltage regulator；The outfan of described low pressure difference linear voltage regulator connects the input of magnetoresistive transducer simultaneously
Input with wireless zigbee communication module.
Magnetoresistive transducer described in technique scheme is three axle magnetoresistive transducers, the geomagnetism detecting chip in magnetoresistive transducer
Detection frequency be 1Hz.
Pass through I between magnetoresistive transducer and single-chip microcomputer described in technique scheme2C interface connects.
Power supply described in technique scheme is lithium ion battery, and the voltage of power supply is 3.7V, and the capacity of power supply is
3500mAh.
After technique scheme, the present invention has following positive effect：
(1) present invention can solve the problem that the precision that current parking facility exists is low, wiring is complicated, too heavy by such environmental effects
The problems such as, and add other car interference update algorithm, parking position detection is changed into single parking stall measure, improves detection essence
Degree.
(2) present invention is exclusively used in parking lot, due to the parking stall in parking lot lean on closer, when using geomagnetism detecting, other car do
Disturb more serious, lead to accuracy of detection not high, on the other hand, for road surface, the external interference on road is one section one section
, vehicle crosses, and interference just disappears, but the car in parking lot can rest on parking stall for a long time, and the interference to other parking stall is
Persistence, the parking lot vehicle monitoring method therefore being updated using interference.
(3) present invention pass through to judge vehicle enter, have car interference, no car disturb, vehicle leave etc. it is ensured that accuracy of detection relatively
High.
(4) whether the present invention can have car to stop with time detection to this device place parking stall, and wirelessly sends
To receiving device, need not connect up, install simple.
Brief description
In order that present disclosure is easier to be clearly understood, below according to specific embodiment and combine accompanying drawing, right
The present invention is described in further detail, wherein
Fig. 1 is the module diagram of the present invention；
It is numbered in accompanying drawing：Power supply circuits 1, power supply 11, low pressure difference linear voltage regulator 12, magnetoresistive transducer 2, single-chip microcomputer 3
With wireless zigbee communication module 4.
Specific embodiment
(embodiment 1, a kind of parking lot equipment for monitoring vehicles being updated based on geomagnetism detecting device interference)
A kind of parking lot equipment for monitoring vehicles being updated based on geomagnetism detecting device interference, has power supply circuits 1, magneto-resistive transducing
Device 2, single-chip microcomputer 3 and wireless zigbee communication module 4；The outfan of power supply circuits 1 connect simultaneously magnetoresistive transducer 2 input and
The input of wireless zigbee communication module 4；Magnetoresistive transducer 2 and wireless zigbee communication module 4 all with single-chip microcomputer 3 two-way
Letter connects.
Power supply circuits 1 have power supply 11 and low pressure difference linear voltage regulator 12；The output termination low pressure difference linearity of power supply 11 is steady
The input of depressor 12；The outfan of low pressure difference linear voltage regulator 12 connects the input of magnetoresistive transducer 12 and wireless simultaneously
The input of zigbee communication module 4.
Magnetoresistive transducer 2 is three axle magnetoresistive transducers, and the detection frequency of the geomagnetism detecting chip in magnetoresistive transducer 2 is
1Hz.
Pass through I between magnetoresistive transducer 2 and single-chip microcomputer 32C interface connects.
Power supply 11 is lithium ion battery, and the voltage of power supply 11 is 3.7V, and the capacity of power supply 11 is 3500mAh.
The present invention is arranged on parking position by four expansion tubes, center ofthe, is located at 1/5th in front and back.Dress
Put shell and adopt PC material, resistance to compression reaches 5 tons, water proof and dust proof Grade I P67.Inside is powered using lithium ion battery, voltage
3.7V, capacity 3500mAh.Adopt low pressure difference linear voltage regulator 12 in the front end of circuit, export stable 3.0 volt voltage to follow-up
Single-chip microcomputer 3 and magnetoresistive transducer 2 power.Set the detection frequency of geomagnetism detecting chip as 1Hz, by I2C interface is by earth magnetism
Field data is transmitted from magnetoresistive transducer 2 and is carried out data analysiss to single-chip microcomputer 3.As detected, there is obvious disturbance in current earth's magnetic field,
Illustrate that this parking stall has car to stop into car information being had wirelessly to send to receiving device by ZigBee.When car leaves
Afterwards, this device can detect magnetic field and revert to normal condition, equally can send no car information.
(embodiment 2, a kind of parking lot vehicle monitoring method being updated based on geomagnetism detecting device interference)
A kind of parking lot vehicle monitoring method being updated based on geomagnetism detecting device interference, is comprised the steps：
A, set up background magnetic field, it comprises the following steps that：
A, interference value G reset, and vehicle influence value S resets；
B, the geomagnetism detecting device to employing are calibrated or are demarcated；
C, using correction after geomagnetism detecting device gather current parking lot on x, y, z three-axle magnetic field perpendicular to each other without
The earth induction Wave data of filtering；
D, every axle take current data respectively 10 data are sample forward, and take the variance of this 10 data；
E, setting are when variance yields are less than 10, and during continuously less than 10 to 100 times, represent waveform steadily, i.e. identification earth magnetism
Detector is in the environment not having other magnetic interference, and data x0, y0, z0 are background magnetic field to record instantly；
F, the background magnetic field intensity A of calculating x, y, z three axle synthesis；Its computing formula is：
B, collection real-time waveform data are simultaneously compared with background magnetic field, and it comprises the following steps that：
After a, background magnetic field update, geomagnetism detecting device gathers x, y, z three-axle magnetic field perpendicular to each other on current parking lot
Earth induction Wave data after extreme value and mean filter, data is x1, y1, z1 to record instantly；
B, by three number of axle according to and background magnetic field do subtraction and difference done the evolution A ' of quadratic sum, its computing formula
For：
C, A ' is saved in sample data set f (k), k is number of samples, last sample is current A ', A '
Necessarily it is more than or equal to 0；
C, have car test survey, it comprises the following steps that：
A, according to test data set vehicle detection threshold value H1, when | A '-G | is during >=H1, enumerator T2 reset, enumerator T1
Start counting up；
B, it is set with car count threshold N1 according to test data, during maintaining A ' >=H1, if T1 >=N1, u=
1, represent and above geomagnetism detecting device, have car to stop；
C, according to test data set steady threshold value W of waveform, as the variance V ＜ W of f (k) data set, enumerator T3 leaves
Begin to count, and after lasting till N3 time, represent that current form is steady, and enter the detection of vehicle influence value S, unison counter T3 is clear
Zero；
If the vehicle influence value S=0 that d detects, represent and also do not record the influence value being stopped to magnetic field, record S=
A’-G；If vehicle influence value S ≠ 0 detecting, represent and recorded the influence value being stopped to magnetic field, record renewal interference value
G '=A '-S；As V ＞ W, enumerator T3 resets；
D, no car test are surveyed, and it comprises the following steps that：
A, when | A '-G | is during ＜ H1, enumerator T1 resets, and vehicle influence value S resets, and enumerator T2 starts counting up；
B, according to test data setting no car count threshold N2, during maintaining A ' ＜ H1, if T2 >=N2, u=
0, represent that the vehicle above geomagnetism detecting device leaves；
C, as the variance V ＜ W of f (k) data set, enumerator T3 starts counting up, and after lasting till N3 time, represents and work as prewave
Steadily, enumerator T3 resets shape, updates interference value G '=A '-S；As V ＞ W, enumerator T3 resets；
E, correction, it comprises the following steps that：By data x1, y1 of collection, z1 and original background data x0, y0, z0 respectively
Do difference, if three axle differences are respectively less than H0 then it represents that not having ferromagnetic material to disturb near this parking stall, no car on parking stall, interference value G
Reset, vehicle influence value S resets.
Described N >=10, described H0 is 5～10；Described H1 is 60～80；H1 is bigger, and capacity of resisting disturbance is stronger, but easily
Real vehicle identification is become interference；H1 is less easily to become vehicle by disturbance ecology, and described N1 is 5f；Described N2 is 10f；Described N3
For 20f, the more big equilibrium mode more difficult to get access of N3, easier disturbed by accident, car is entered in such as other parking stall；N3 is more little more easily to be entered
Enter equilibrium mode, more easily obtain incorrect vehicle influence value S, wherein f is detection frequency.
Particular embodiments described above, has carried out detailed further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, be should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (5)
1. a kind of parking lot vehicle monitoring method being updated based on geomagnetism detecting device interference is it is characterised in that comprise the steps：
A, set up background magnetic field, it comprises the following steps that：
A, interference value G reset, and vehicle influence value S resets；
B, the geomagnetism detecting device to employing are calibrated or are demarcated；
On the current parking lot of geomagnetism detecting device collection after c, utilization correction, x, y, z three-axle magnetic field perpendicular to each other is non-filtered
Earth induction Wave data；
It is sample toward top n data that d, every axle take current data respectively, and takes the variance of this N number of data；
E, set and be less than 10, and during continuously less than 10 to 100 times when variance yields, represent waveform steadily, record instantly data x0,
Y0, z0 are background magnetic field；
F, the background magnetic field intensity A of calculating x, y, z three axle synthesis；
B, collection real-time waveform data are simultaneously compared with background magnetic field, and it comprises the following steps that：
A, geomagnetism detecting device gather current parking lot on x, y, z three-axle magnetic field perpendicular to each other after extreme value and mean filter
Earth induction Wave data, data is x1, y1, z1 to record instantly；
B, by three number of axle according to and background magnetic field do subtraction and difference be the evolution A ' of quadratic sum；
C, A ' is saved in sample data set f (k), k is number of samples；
C, have car test survey, it comprises the following steps that：
A, vehicle detection threshold value H1 is set according to test data, when | A '-G | is during >=H1, enumerator T2 resets, and enumerator T1 starts
Count；
B, it is set with car count threshold N1 according to test data, during maintaining A ' >=H1, if T1 >=N1, u=1, table
Show and above geomagnetism detecting device, have car to stop；
C, according to test data set steady threshold value W of waveform, as the variance V ＜ W of f (k) data set, enumerator T3 start count
Number, and after lasting till N3 time, represent current form steadily, and enter the detection of vehicle influence value S, unison counter T3 clearing；
If the vehicle influence value S=0 that d detects, represent and also do not record the influence value being stopped to magnetic field, record S=A '-
G；If vehicle influence value S ≠ 0 detecting, represent and recorded the influence value being stopped to magnetic field, record renewal interference value G '
=A '-S；As V ＞ W, enumerator T3 resets；
D, no car test are surveyed, and it comprises the following steps that：
A, when | A '-G | is during ＜ H1, enumerator T1 resets, and vehicle influence value S resets, and enumerator T2 starts counting up；
B, according to test data setting no car count threshold N2, during maintaining A ' ＜ H1, if T2 >=N2, u=0, table
Show that the vehicle above geomagnetism detecting device leaves；
C, as the variance V ＜ W of f (k) data set, enumerator T3 starts counting up, and after lasting till N3 time, represents that current form is put down
Surely, enumerator T3 resets, and updates interference value G '=A '-S；As V ＞ W, enumerator T3 resets；
E, correction.
2. the parking lot vehicle monitoring method being updated based on geomagnetism detecting device interference according to claim 1, its feature exists
In described step E comprises the following steps：Data x1, y1 of collection, z1 and original background data x0, y0, z0 are made the difference respectively
Value, if three axle differences are respectively less than H0 then it represents that not having ferromagnetic material to disturb near this parking stall, no car on parking stall, interference value G is clear
Zero, vehicle influence value S reset.
3. the parking lot vehicle monitoring method being updated based on geomagnetism detecting device interference according to claim 1, its feature exists
In calculating the background magnetic field intensity A of x, y, z three axle synthesis in described step A, its computing formula is：
4. the parking lot vehicle monitoring method being updated based on geomagnetism detecting device interference according to claim 1, its feature exists
In, in described step B by three number of axle of collection according to and background magnetic field do subtraction and difference be the evolution A ' of quadratic sum, its
Computing formula is：
5. the parking lot vehicle monitoring method being updated based on geomagnetism detecting device interference according to claim 1, its feature exists
In, described N >=10, described H0 is 5～10；Described H1 is 60～80；Described N1 is 5f；Described N2 is 10f；Described N3 is 20f,
F is detection frequency.
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| CN104916159B (en) * | 2015-03-25 | 2017-04-05 | 北京长城金点物联网科技股份有限公司 | A kind of vehicle checking method and detecting system |
| CN104794933B (en) * | 2015-05-04 | 2017-05-31 | 中设设计集团股份有限公司 | A kind of method for improving accuracy of geomagnetic parking stall detector |
| CN106297373B (en) * | 2015-06-09 | 2020-04-14 | 中国科学院深圳先进技术研究院 | Parking lot vehicle detection method based on cross-correlation and geomagnetic sensors |
| CN105321351A (en) * | 2015-11-03 | 2016-02-10 | 徐承柬 | Parking space arrearage management method and system |
| CN105679044B (en) * | 2016-02-26 | 2017-12-29 | 深圳市国帆网络信息技术股份有限公司 | Utilize the parking stall vehicle detection method and device of magnetic sensor |
| CN105825708A (en) * | 2016-04-22 | 2016-08-03 | 江苏省交通规划设计院股份有限公司 | Parking space state judgment method of geomagnetic vehicle detector |
| CN105869434B (en) * | 2016-05-10 | 2018-12-28 | 深圳市万泊科技有限公司 | A kind of method for detecting parking stalls based on geomagnetic sensor |
| CN107146420A (en) * | 2017-07-18 | 2017-09-08 | 迈锐数据（北京）有限公司 | A kind of detection device of parking space state and the detection method of parking space state |
| CN107730976A (en) * | 2017-09-19 | 2018-02-23 | 深圳云停智能交通技术研究院有限公司 | A kind of earth magnetism wagon detector jamproof system and method |
| CN108961777B (en) * | 2018-08-21 | 2021-11-05 | 淮北联联信息科技有限公司 | Parking space state monitoring method and device based on geomagnetic field |
| CN110570686B (en) * | 2019-09-30 | 2021-02-26 | 东莞理工学院 | Anti-interference parking detection method and system based on geomagnetic sensor |
| CN112419744B (en) * | 2020-08-27 | 2022-09-27 | 宁波大榭招商国际码头有限公司 | Container truck detection method based on waveform detection |
| CN112037533B (en) * | 2020-09-02 | 2021-05-11 | 四川九通智路科技有限公司 | Vehicle passing detection method of geomagnetic sensing type spike |
| CN115273490B (en) * | 2021-04-30 | 2023-09-19 | 阿尔卑斯通信器件技术（上海）有限公司 | Parking space detection device and parking space detection method |
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